The haptic-temperature fusion based on VO2 volatile memristor and multilayer perceptron by simulation. a) The circuit diagram of the haptic-temperature fusion. b) Neuronal response of the haptic-temperature fusion under 100 g & 27 °C, 200 g & 17 °C and 200 g & 32 °C. The output frequencies are 0.5, 0.6, and 1.1 MHz at the haptic-temperature fusion under 100 g & 27 °C, 200 g & 17 °C and 200 g & 32 °C, respectively c) Schematic of the multilayer perceptron for pattern classification. d) Evolution of the training accuracy with training epoch. The line with blue circles is the training accuracy based on Vmax-Vmean-f inputs, which reaches 91.35% after 200 epochs. The line with orange triangles is the training accuracy based on Vmax-f inputs, which reaches 86.03% after 200 epochs. The line with green squares is the training accuracy based on Vmean-f inputs, which reaches 83.25% after 200 epochs. e) Confusion matrix of the testing results, showing that the test inputs are well classified after training.